CN106609520A - Variable-activity connecting rod mechanism driven by servo motor - Google Patents
Variable-activity connecting rod mechanism driven by servo motor Download PDFInfo
- Publication number
- CN106609520A CN106609520A CN201611078762.9A CN201611078762A CN106609520A CN 106609520 A CN106609520 A CN 106609520A CN 201611078762 A CN201611078762 A CN 201611078762A CN 106609520 A CN106609520 A CN 106609520A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- locking device
- large arm
- wrist
- rotates
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 37
- 230000000694 effects Effects 0.000 title abstract description 5
- 210000000707 wrist Anatomy 0.000 claims abstract description 22
- 230000003028 elevating effect Effects 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 240000000111 Saccharum officinarum Species 0.000 description 7
- 235000007201 Saccharum officinarum Nutrition 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 5
- 239000012530 fluid Substances 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/301—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
- E02F3/413—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/425—Drive systems for dipper-arms, backhoes or the like
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a variable-activity connecting rod mechanism driven by a servo motor. The variable-activity connecting rod mechanism comprises a base 1, a large arm lifting mechanism, a wrist connecting rod pitching mechanism, a servo drive device, a first locking device 5 and a second locking device 22. The large arm lifting mechanism comprises a large arm 20, a first connecting rod 3 and a second connecting rod 6. The wrist connecting rod pitching mechanism comprises a drive rod 17, a third connecting rod 15, a connecting piece 13 and a fourth connecting rod 11. The first locking device 5 and the second locking device 22 are installed on a second rotation pair 4 and a fifth rotation pair 7 correspondingly. The servo drive device comprises the first servo motor which is connected with the drive rod 17 to drive the drive rod 17 to rotate. The first locking device 5 and the second locking device 22 conduct locking in an electromagnetic manner. According to the variable-activity connecting rod mechanism, work of two freedom degrees can be achieved simply through one drive rod, the use number of motors is reduced, and the manufacturing cost of the mechanism is reduced.
Description
Technical field
Invention is related to mechanical field, the variable linkage of mobility that particularly a kind of employing servomotor drives.
Background technology
Over the years, because the personnel of labour market are in short supply, human cost rises year by year, promotes cane catching machine in Caulis Sacchari sinensis
Extensive application in harvesting processing operation.Cane catching machine has mechanical type and fluid pressure type two types, and the mechanical arm of current cane catching machine is big
Majority is hydraulic-driven, there is problems with as the medium of transmission power using hydraulic oil due to hydraulic drive：Its startability
Poor, easily because producing leakage after inner member abrasion, and the hydraulic oil for leaking pollutes the environment, and affects sugarcane raw material
Quality；Hydraulic oil temperature influence is larger, and aggregate efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that overheated, powerless in work
Etc. phenomenon；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are strict, and manufacture is more difficult, and maintenance in use requires skill
Art is higher, and difficulty is larger.With the increase of cane catching machine function, its hydraulic system becomes increasingly complex, and breaks down with more unexpected
Property, disguise.Mechanical type cane catching machine be using mechanical transmissioning piece realize grab sugarcane action, have the advantages that it is sturdy and durable, but pass
The single-degree-of-freedom mechanical type cane catching machine of system can not complete the action of complexity, and range of application is extremely limited, mechanical type controllable mechanism electricity
Dynamic cane catching machine, with linkage hydraulic drive is instead of, and when driving lever is driven by servomotor, easily realizes automatization, number
Controlization is controlled, and solves some shortcomings of hydraulic system presence, but there is needs outfit and linkage degree of freedom equivalent amount
Controlled motor being controlled big and high cost the problem of mechanism's weight, movement inertia that complex structure is brought.
Variable Freedom Mechanism is by the functional requirement that is combined into new topological structure to adapt to different phase.Can apply at present
It is also little in actual Variable Freedom Mechanism, had not seen the Variable Freedom Mechanism for being applied to cane catching machine.
The content of the invention
It is an object of the invention to provide the variable company of mobility that a kind of employing servomotor for being applied to cane catching machine drives
Linkage, overcomes the shortcomings of fluid pressure type cane catching machine hydraulic system element required precision height, complex structure, easy oil leakage, overcomes open chain
The motor of structure is required for being arranged on the shortcoming of joint position, and the quantity of controllable drive motor is connected less than cane catching machine
The degree of freedom of linkage, overcomes the electronic cane catching machine structure of existing machinery formula to need to be equipped with the control with linkage degree of freedom equivalent amount
Motor processed simplifies the complexity of structure the shortcoming that is controlled, the weight of reducing mechanism, movement inertia, volume and cost.
For achieving the above object, the invention provides a kind of variable linkage of mobility that drives of employing servomotor, including base
1st, large arm elevating mechanism, wrist connecting rod luffing mechanism, servo drive, the first locking device 5 and the second locking device 22；
The large arm elevating mechanism includes large arm 20, first connecting rod 3 and second connecting rod 6, and the one end of the large arm 20 rotates secondary by the 3rd
19 are connected with base 1, and the other end rotates secondary 8 and is connected with wrist connecting rod 9 by the 6th；The one end of the first connecting rod 3 passes through first
Rotate secondary 2 to be connected with base 1, the other end rotates secondary 4 and is connected with the one end of second connecting rod 6 by second, and the other end of second connecting rod 6 leads to
Cross the 4th rotation secondary 21 to be connected with large arm 20；The wrist connecting rod luffing mechanism includes driving lever 17, third connecting rod 15, connector
13 and fourth link 11, the one end of the driving lever 17 rotates secondary 18 and is connected with base 1 by the 11st, and the other end is by the tenth turn
Dynamic secondary 16 are connected with the one end of third connecting rod 15, and the other end of third connecting rod 15 is by the 9th rotate secondary 14 and connector 13 first
End connection, one end of the fourth link 11 is connected by eighth-turn dynamic secondary 12 with second end of connector 13, and the other end passes through
7th rotates secondary 10 is connected with wrist connecting rod 9, and the 3rd end of connector 13 rotates secondary 7 and be connected with large arm 20 by the 5th；Institute
State the first locking device 5 and the second locking device 22 is separately mounted to the second rotation secondary 4 and the 5th and rotates on secondary 7, according to mechanism
Different operating modes are locked in good time；Servo drive is connected to drive its turn including the first servomotor with driving lever 17
It is dynamic；First locking device 5 and the second locking device 22 are locked using electromagnetic mode.
The variable linkage of mobility that a kind of employing servomotor of the present invention drives is applied to grab sugarcane operation
When, it is only necessary to base 1 is coupled together with rubber-tyred or crawler type walking mechanism, wrist connecting rod 9 is connected with wrist 27, paw 28
Get up.
The present invention adopts controllable many bar closed chain mechanisms, and the motor for overcoming open-chain structure is required for being arranged on joint position
The shortcoming put, improves the stationarity and reliability of arm operation, and without cumulative error, precision is higher；Compact conformation, rigidity is high,
Large carrying capacity, inertia are low, dynamic property is good, arm motion track flexible and diverse.Install locking device additional on linkage,
And allow it to be locked according to the different operating modes of mechanism and loosen specific rotation pair, the degree of freedom of mechanism is reduced in good time, realize
In the case where expected requirement is completed, the quantity of the controllable drive motor for using is less than the degree of freedom of cane catching machine linkage, profit
Two degrees of freedom is capable of achieving with a driving lever and grabs sugarcane operation, overcome existing cane catching machine to need outfit equal with linkage degree of freedom
The controlled motor of quantity simplifies the complexity of structure, the weight of reducing mechanism, movement inertia, body come the shortcoming being controlled
Product and cost, increased the controllability and stability of mechanism, improve work efficiency.Also overcome fluid pressure type cane catching machine liquid simultaneously
Pressure system element required precision height, complex structure, easy oil leakage, poor reliability, the low shortcoming of transmission efficiency.
Description of the drawings
Fig. 1 is the variable linkage schematic diagram of mobility that a kind of employing servomotor of the present invention drives.It is concrete real
Apply mode
The variable linkage of mobility that a kind of employing servomotor drives, including base 1, large arm elevating mechanism, wrist connecting rod
Luffing mechanism, servo drive, the first locking device 5 and the second locking device 22；The base 1 is arranged on removable revolution
On platform；The large arm elevating mechanism includes large arm 20, first connecting rod 3 and second connecting rod 6, and the one end of the large arm 20 passes through the 3rd
Rotate secondary 19 to be connected with base 1, the other end rotates secondary 8 and is connected with wrist connecting rod 9 by the 6th；The one end of the first connecting rod 3 leads to
Cross the first rotation secondary 2 to be connected with base 1, the other end rotates secondary 4 and is connected with the one end of second connecting rod 6 by second, and second connecting rod 6 is another
One end rotates secondary 21 and is connected with large arm 20 by the 4th；The wrist connecting rod luffing mechanism include driving lever 17, third connecting rod 15,
Connector 13 and fourth link 11, one end of the driving lever 17 rotates secondary 18 and is connected with base 1 by the 11st, and the other end passes through
Tenth rotates secondary 16 is connected with the one end of third connecting rod 15, and the other end of third connecting rod 15 rotates secondary 14 with connector 13 by the 9th
First end connection, one end of the fourth link 11 is connected by eighth-turn dynamic secondary 12 with second end of connector 13, another
End rotates secondary 10 and is connected with wrist connecting rod 9 by the 7th, and the 3rd end of connector 13 rotates secondary 7 and connect with large arm 20 by the 5th
Connect；The locking device 22 of first locking device 5 and second is separately mounted to the second rotation secondary 4 and the 5th and rotates on secondary 7, according to
The different operating mode of mechanism is locked in good time；Servo drive is connected to drive it including the first servomotor with driving lever 17
Rotate；First locking device 5 and the second locking device 22 are locked using electromagnetic mode.
The variable linkage of mobility that a kind of employing servomotor of the present invention drives is applied to grab sugarcane operation
When, it is only necessary to base 1 is coupled together with rubber-tyred or crawler type walking mechanism, wrist connecting rod 9 is connected with wrist 27, paw 28
Get up.
At work, when large arm 20 is lifted, the first locking device 5 is opened, and second rotates secondary 4 degree of affranchising, the second lock
Tight device 22 is locked, and the 5th rotates secondary 7 loses degree of freedom, and now, large arm 20 is lifted under the effect of driving lever 17.Wrist connecting rod 9
Individually during pitching, the second locking device 22 is opened, and the 5th rotates secondary 7 degree of affranchising, and the first locking device 5 is locked, second turn
Dynamic secondary 4 lose degree of freedom, and the respect thereto 1 of large arm 20 loses degree of freedom, and now wrist connecting rod 9 is realized bowing under the driving of driving lever 17
Face upward.In sugarcane operation process is entirely grabbed, the first locking device 5 and the second locking device 22 are according to different working conditions, difference
The tight lock of selection is opened, and the motions such as the pitching of large arm lifting, wrist connecting rod 12 and wrist 27 are completed jointly, realizes grabbing for paw 28
Sugarcane operation.First locking device 5 and the second locking device 22 are locked using electromagnetic mode, and control is easily realized.
Claims (1)
1. the variable linkage of mobility that a kind of employing servomotor drives, including base 1, large arm elevating mechanism, wrist company
Bar luffing mechanism, servo drive, the first locking device 5 and the second locking device 22；The base 1 is arranged on and may move back
Turn on platform；The large arm elevating mechanism includes large arm 20, first connecting rod 3 and second connecting rod 6, and the one end of the large arm 20 is by the
Three rotate secondary 19 is connected with base 1, and the other end rotates secondary 8 and is connected with wrist connecting rod 9 by the 6th；The one end of the first connecting rod 3
Secondary 2 are rotated by first to be connected with base 1, the other end rotates secondary 4 and is connected with the one end of second connecting rod 6 by second, second connecting rod 6
The other end rotates secondary 21 and is connected with large arm 20 by the 4th；The wrist connecting rod luffing mechanism includes driving lever 17, third connecting rod
15th, connector 13 and fourth link 11, one end of the driving lever 17 rotates secondary 18 and is connected with base 1 by the 11st, the other end
Secondary 16 are rotated by the tenth to be connected with the one end of third connecting rod 15, the other end of third connecting rod 15 rotates secondary 14 and connector by the 9th
13 first end connection, one end of the fourth link 11 is connected by eighth-turn dynamic secondary 12 with second end of connector 13,
The other end rotates secondary 10 and is connected with wrist connecting rod 9 by the 7th, and the 3rd end of connector 13 rotates secondary 7 and large arm by the 5th
20 connections；The locking device 22 of first locking device 5 and second is separately mounted to the second rotation secondary 4 and the 5th and rotates on secondary 7,
Locked in good time according to the different operating mode of mechanism；Servo drive is connected to drive including the first servomotor with driving lever 17
Move its rotation；First locking device 5 and the second locking device 22 are locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611078762.9A CN106609520A (en) | 2016-11-30 | 2016-11-30 | Variable-activity connecting rod mechanism driven by servo motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611078762.9A CN106609520A (en) | 2016-11-30 | 2016-11-30 | Variable-activity connecting rod mechanism driven by servo motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106609520A true CN106609520A (en) | 2017-05-03 |
Family
ID=58636304
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611078762.9A Pending CN106609520A (en) | 2016-11-30 | 2016-11-30 | Variable-activity connecting rod mechanism driven by servo motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106609520A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3510898C1 (en) * | 1985-03-26 | 1986-06-12 | O & K Orenstein & Koppel Ag, 1000 Berlin | Mobile excavator with a boom which can be shifted into a working or transport position |
| KR101493361B1 (en) * | 2013-02-08 | 2015-02-16 | 김진선 | Tracking control system and method for the path of excavating machine's bucket |
| CN104532888A (en) * | 2014-12-12 | 2015-04-22 | 广西大学 | Multi-connecting-rod movable type loading mechanism with initiative metamorphic function |
| CN106607928A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Servo drive variable freedom degree connecting rod mechanism mechanical arm for assembling work |
| CN106608525A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Variable freedom degree connecting rod type timber grab driven by servo motor |
| CN106737575A (en) * | 2016-11-28 | 2017-05-31 | 广西大学 | One kind is driven using servomotor can variable freedom link-type feed stacking machine arm |
-
2016
- 2016-11-30 CN CN201611078762.9A patent/CN106609520A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3510898C1 (en) * | 1985-03-26 | 1986-06-12 | O & K Orenstein & Koppel Ag, 1000 Berlin | Mobile excavator with a boom which can be shifted into a working or transport position |
| KR101493361B1 (en) * | 2013-02-08 | 2015-02-16 | 김진선 | Tracking control system and method for the path of excavating machine's bucket |
| CN104532888A (en) * | 2014-12-12 | 2015-04-22 | 广西大学 | Multi-connecting-rod movable type loading mechanism with initiative metamorphic function |
| CN106607928A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Servo drive variable freedom degree connecting rod mechanism mechanical arm for assembling work |
| CN106608525A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Variable freedom degree connecting rod type timber grab driven by servo motor |
| CN106737575A (en) * | 2016-11-28 | 2017-05-31 | 广西大学 | One kind is driven using servomotor can variable freedom link-type feed stacking machine arm |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170503 |
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| WD01 | Invention patent application deemed withdrawn after publication |